Method of alerting to stationary objects for vehicle

Abstract

The present invention provides a method of alerting to stationary objects for vehicle. When a vehicle moves at a first speed, an optical scanning device, an infrared image extraction device, and an image extraction device extract a first optical scanning image, a first infrared image, and a first ambient image of the ambiance on one side of the vehicle. According to the fusion algorithm and the optical flow method, the first obstacle information of the first obstacle in the first image will be given. According to the location information of the first obstacle, the vehicle computer judges and generates an alert message when the relative distance is smaller than a distance threshold value and the obstacle volume is greater than a volume threshold value.

What is claimed is: 
     
       1. A method of alerting to stationary objects for vehicle, applicable to a vehicle, said vehicle including a vehicle computer, a optical scanning device, an infrared image extraction device, and an image extraction device, said vehicle computer connected electrically to said optical scanning device, said infrared image extraction device, and said image extraction device, and said vehicle computer executing the following steps of:
 when said vehicle moves, said optical scanning device, said infrared image extraction device, and said image extraction device extracting a first optical scanning image, a first infrared image, and a first ambient image of an ambiance on one side of said vehicle; 
 said vehicle computer receiving and combining said first optical scanning image, said first infrared image, and said first ambient image according to a fusion algorithm to give a first image; 
 said vehicle computer analyzing and acquiring said first obstacle information of a first obstacle in said first image according to an image optical flow method, where said first obstacle information includes a relative distance to said vehicle and an obstacle volume of said first obstacle; and 
 when said relative distance is smaller than a distance threshold value and said obstacle volume is greater than a volume threshold value, said vehicle computer labeling a real obstacle on a display unit of said vehicle computer and generating an alert message. 
 
     
     
       2. The method of alerting to stationary objects for vehicle of  claim 1 , where in said step of said vehicle computer receiving and combining said first optical scanning image, said first infrared image, and said first ambient image according to a fusion algorithm to give a first image, said vehicle computer includes a processing unit; said processing unit includes an image processing program; and said image processing program is used for executing said fusion algorithm and said image optical flow method. 
     
     
       3. The method of alerting to stationary objects for vehicle of  claim 1 , where in said step of said vehicle computer analyzing and acquiring said first obstacle information of a first obstacle in said first image according to an image optical flow method, where said first obstacle information includes a relative distance to said vehicle and an obstacle volume of said first obstacle in said first image, the vehicle computer further executes the steps of:
 said vehicle classifying said real obstacle according to said obstacle volume; and 
 when said obstacle volume is smaller than said volume threshold value, said vehicle computer judging said real obstacle an invalid obstacle. 
 
     
     
       4. The method of alerting to stationary objects for vehicle of  claim 1 , where said alert message is a voice message or/and an image message. 
     
     
       5. The method of alerting to stationary objects for vehicle of  claim 1 , where in said step of when said relative distance is smaller than a distance threshold value and said obstacle volume is greater than a volume threshold value, said vehicle computer labeling a real obstacle on a display unit of said vehicle computer and generating an alert message, said volume threshold value is smaller than 400 square centimeters. 
     
     
       6. The method of alerting to stationary objects for vehicle of  claim 1 , where in said step of when said relative distance is smaller than a distance threshold value and said obstacle volume is greater than a volume threshold value, said vehicle computer labeling a real obstacle on a display unit of said vehicle computer and generating an alert message, said distance threshold value is smaller than 200 meters.